SCUBAssist is a semi-autonomous underwater vehicle that aims to be the ultimate recreational SCUBA diving assistant. It does this by both assisting with dive site scouting via tethered remote control and by following divers semi-autonomously to record well-framed and stabilized video of the dive. Once a diver enters the water, the vehicle can be switched between a manual, joystick-operated mode to one where it follows the diver autonomously, tracking fiducial markers on the diver’s tank.
We won second place in our Senior Design competition, and won First Place in the Intel-Cornell Cup Competition.
I served as a mechanical engineer, fabricator, design researcher, and graphic designer for the team. Some key components I worked on were buoyancy analysis, water-proofing, machining, CAD, sonar research and implementation, and industrial design of the vehicle.
(This post is still under construction)